Systems, devices, and methods including a wheelchair-assist robot

ABSTRACT

Systems, devices, and methods are described for providing, among other things, a wheelchair-assist robot for assisting a wheelchair user with everyday tasks or activities at work, at home, and the like. In an embodiment, the mobile wheelchair-assist robot includes a wheelchair interface component configured to exchange control information with a wheelchair controller. In an embodiment, a wheelchair-assist robot mount assembly is provided for, among other things, electrically and physically coupling a wheelchair-assist robot to an associated wheelchair.

If an Application Data Sheet (ADS) has been filed on the filing date ofthis application, it is incorporated by reference herein. Anyapplications claimed on the ADS for priority under 35 U.S.C. §§ 119,120, 121, or 365(c), and any and all parent, grandparent,great-grandparent, etc. applications of such applications, are alsoincorporated by reference, including any priority claims made in thoseapplications and any material incorporated by reference, to the extentsuch subject matter is not inconsistent herewith.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is related to and/or claims the benefit of theearliest available effective filing date(s) from the following listedapplication(s) (the “Priority Applications”), if any, listed below(e.g., claims earliest available priority dates for other thanprovisional patent applications or claims benefits under 35 USC § 119(e)for provisional patent applications, for any and all parent,grandparent, great-grandparent, etc. applications of the PriorityApplication(s)). In addition, the present application is related to the“Related Applications,” if any, listed below.

Priority Applications

None

Related Applications

None

If the listings of applications provided above are inconsistent with thelistings provided via an ADS, it is the intent of the Applicant to claimpriority to each application that appears in the Priority Applicationssection of the ADS and to each application that appears in the PriorityApplications section of this application.

All subject matter of the Priority Applications and the RelatedApplications and of any and all parent, grandparent, great-grandparent,etc. applications of the Priority Applications and the RelatedApplications, including any priority claims, is incorporated herein byreference to the extent such subject matter is not inconsistentherewith.

SUMMARY

In an aspect, the present disclosure is directed to, among other things,a mobile wheelchair-assist robot. In an embodiment, the mobilewheelchair-assist robot includes a wheelchair interface componentconfigured to exchange control information with an associated wheelchair(a manual wheel chair, a powered wheelchair, an electric wheelchair, aself-propelled wheelchair, etc.). In an embodiment, the mobilewheelchair-assist robot includes a surveillance component configured toexchange information with the associated wheelchair.

In an aspect, the present disclosure is directed to, among other things,a mobile wheelchair-assist robot including a wheelchair interfacecomponent. In an embodiment, the mobile wheelchair-assist robot includesa powered winch assembly mounted on a frame. In an embodiment, the winchassembly is communicatively coupled to the wheelchair interfacecomponent. In an embodiment, the winch assembly is configured to deployresponsive to one or more inputs from the wheelchair interfacecomponent. In an embodiment, the powered winch assembly includes a pullmember configured to connect to a wheelchair and to pull the wheelchairalong a travel path responsive to one or more inputs from the wheelchairinterface component.

In an aspect, the present disclosure is directed to, among other things,a wheelchair-assist robot including a wheelchair interface componentoperable to exchange information with a wheelchair client device. In anembodiment, the mobile wheelchair-assist robot includes an articulatedarm assembly operably coupled to the wheelchair interface component. Inan embodiment, the articulated arm assembly comprises a graspingmechanism configured to move a first grasping member relative to asecond grasping member between at least a first position and a secondposition. In an embodiment, the grasping mechanism is configured to movethe first grasping member relative to the second grasping member betweenan open position and a closed position. In an embodiment, the wheelchairinterface component is configured to vary the position of the graspingmechanism based on one or more inputs from the wheelchair client device.

In an aspect, the present disclosure is directed to, among other things,a flying wheelchair-assist robot including a wheelchair interfacecomponent operable to exchange control information with a wheelchairclient device. In an embodiment, the flying wheelchair-assist robotincludes an electronic surveillance payload. In an embodiment, theflying wheelchair-assist robot includes a rotorcraft structure operablycoupled to wheelchair interface component. In an embodiment, therotorcraft structure includes one or more rotors for generating lift. Inan embodiment, the rotorcraft structure includes multiple rotors drivenby respective motors. In an embodiment, the rotorcraft structureincludes a plurality of rotary wings. In an embodiment, the rotorcraftstructure comprises a multirotor helicopter.

In an aspect, the present disclosure is directed to, among other things,a mobile wheelchair-assist robot system. In an embodiment, the mobilewheelchair-assist robot system includes a wheelchair-assist robot. In anembodiment, the mobile wheelchair-assist robot system includes awheelchair-assist robot mount assembly constructed and arranged to bemounted onto a wheelchair. In an embodiment, the wheelchair-assist robotmount assembly comprises a portion that engages the mobilewheelchair-assist robot and causes the mobile wheelchair-assist robot tophysically secure against a portion of the wheelchair. In an embodiment,the wheelchair-assist robot mount assembly includes a portion thatengages the mobile wheelchair-assist robot and causes the mobilewheelchair-assist robot to physically secure against a portion of thewheelchair in response to movement of the wheelchair-assist robot mountassembly. In an embodiment, the wheelchair-assist robot mount assemblyincludes a powered device mechanism that engages the mobilewheelchair-assist robot and causes the mobile wheelchair-assist robot tophysically secure against a portion of the wheelchair in response to oneor more inputs from a client device associated with a wheelchair. In anembodiment, the wheelchair-assist robot mount assembly includes awheelchair interface component that allows a wheelchair controller andthe wheelchair-assist robot to exchange control commands.

The foregoing summary is illustrative only and is not intended to be inany way limiting. In addition to the illustrative aspects, embodiments,and features described above, further aspects, embodiments, and featureswill become apparent by reference to the drawings and the followingdetailed description.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a perspective view of a wheelchair-assist robot systemaccording to one embodiment.

FIG. 2 is a perspective view of a wheelchair-assist robot systemaccording to one embodiment.

FIG. 3 is a perspective view of a wheelchair-assist robot systemaccording to one embodiment.

FIGS. 4A and 4B show perspective views of a wheelchair-assist robotsystem according to one embodiment.

FIG. 5 is a perspective view of a wheelchair-assist robot systemaccording to one embodiment.

DETAILED DESCRIPTION

In the following detailed description, reference is made to theaccompanying drawings, which form a part hereof. In the drawings,similar symbols typically identify similar components, unless contextdictates otherwise. The illustrative embodiments described in thedetailed description, drawings, and claims are not meant to be limiting.Other embodiments may be utilized, and other changes may be made,without departing from the spirit or scope of the subject matterpresented here.

Assistive devices such as wheelchairs, wheelchair-assist robots, and thelike may enhance mobility, accessibility, or independence for users, andmay also improve quality of life. Assistive devices such as wheelchairs,wheelchair-assist robots, and the like may enable user to become mobile,remain healthy, participate fully in community life, as well as reducedependence on others.

FIG. 1 shows a wheelchair-assist robot system 100 in which one or moremethodologies or technologies can be implemented such as, for example,assisting an individual subject (e.g., a patient, a human subject, ananimal subject, a user, a passenger, etc.) in a wheelchair (a manualwheel chair, a powered wheelchair, an electric wheelchair, aself-propelled wheelchair, etc.) with everyday tasks or activities. Inan embodiment, the wheelchair-assist robot system 100 includes one ormore wheelchair-assist robots 102. In an embodiment, thewheelchair-assist robot 102 assists a wheelchair user with everydaytasks or activities at work, at home, and the like.

In an embodiment, the wheelchair-assist robot 102 includes one or morecomponents. For example, in an embodiment, the wheelchair-assist robot102 includes a wheelchair interface component 104. In an embodiment,during operation, the wheelchair interface component 104 exchangesinformation, commands, status reports, sensor data, and the like with anassociated wheelchair 106. In an embodiment, the wheelchair interfacecomponent 104 is configured to exchange control information with anassociated wheelchair 106. For example, in an embodiment, the wheelchairinterface component 104 includes at least one of a receiver, atransmitter, and a transceiver operable to exchange control informationwith an associated wheelchair 106. In an embodiment, the wheelchairinterface component 104 includes at least one of a receiver, atransmitter, and a transceiver operable to communicate travel routestatus information with an associated wheelchair 106.

In an embodiment, a component such as a wheelchair interface component104 includes, among other things, one or more computing devices such asa processor (e.g., a microprocessor), a central processing unit (CPU), adigital signal processor (DSP), an application-specific integratedcircuit (ASIC), a field programmable gate array (FPGA), or the like, orany combinations thereof, and can include discrete digital or analogcircuit elements or electronics, or combinations thereof. In anembodiment, a component includes one or more ASICs having a plurality ofpredefined logic components. In an embodiment, a component includes oneor more FPGAs, each having a plurality of programmable logic components.

In an embodiment, the wheelchair interface component 104 includes one ormore components operably coupled (e.g., communicatively,electromagnetically, magnetically, ultrasonically, optically,inductively, electrically, capacitively coupled, or the like) to eachother. In an embodiment, a component includes one or more remotelylocated components. In an embodiment, remotely located components areoperably coupled, for example, via wireless communication. In anembodiment, remotely located components are operably coupled, forexample, via one or more receivers, transmitters, transceivers,antennas, or the like. In an embodiment, the wheelchair interfacecomponent 104 includes a component having one or more routines, datastructures, interfaces, and the like.

In an embodiment, a component includes memory that, for example, storesinstructions or information. For example, in an embodiment, thewheelchair interface component 104 includes memory that stores, forexample, information regarding travel routes, environmental conditions,hazards, wheelchair accessibility points, and the like. Non-limitingexamples of memory include volatile memory (e.g., Random Access Memory(RAM), Dynamic Random Access Memory (DRAM), or the like), non-volatilememory (e.g., Read-Only Memory (ROM), Electrically Erasable ProgrammableRead-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), orthe like), persistent memory, or the like. Further non-limiting examplesof memory include Erasable Programmable Read-Only Memory (EPROM), flashmemory, or the like. In an embodiment, the memory is coupled to, forexample, one or more computing devices by one or more instructions,information, or power buses.

In an embodiment, a component includes one or more computer-readablemedia drives, interface sockets, Universal Serial Bus (USB) ports,memory card slots, or the like, and one or more input/output componentssuch as, for example, a graphical user interface, a display, a keyboard,a keypad, a trackball, a joystick, a touch-screen, a mouse, a switch, adial, or the like, and any other peripheral device. In an embodiment, acomponent includes one or more user input/output components, userinterfaces, client devices, or the like, that are operably coupled to atleast one computing device configured to control (e.g., electrical,electromechanical, software-implemented, firmware-implemented, or othercontrol, or combinations thereof) at least one parameter associatedwith, for example, controlling activating, operating, or the like, awheelchair-assist robot 102.

In an embodiment, a component includes a computer-readable media driveor memory slot that is configured to accept signal-bearing medium (e.g.,computer-readable memory media, computer-readable recording media, orthe like). In an embodiment, a program for causing a system to executeany of the disclosed methods can be stored on, for example, acomputer-readable recording medium (CRMM), a signal-bearing medium, orthe like. Non-limiting examples of signal-bearing media include arecordable type medium such as a magnetic tape, floppy disk, a hard diskdrive, a Compact Disc (CD), a Digital Video Disk (DVD), Blu-Ray Disc, adigital tape, a computer memory, or the like, as well as transmissiontype medium such as a digital or an analog communication medium (e.g., afiber optic cable, a waveguide, a wired communications link, a wirelesscommunication link (e.g., receiver, transmitter, transceiver,transmission logic, reception logic, etc.). Further non-limitingexamples of signal-bearing media include, but are not limited to,DVD-ROM, DVD-RAM, DVD+RW, DVD-RW, DVD-R, DVD+R, CD-ROM, Super Audio CD,CD-R, CD+R, CD+RW, CD-RW, Video Compact Discs, Super Video Discs, flashmemory, magnetic tape, magneto-optic disk, MINIDISC, non-volatile memorycard, EEPROM, optical disk, optical storage, RAM, ROM, system memory,web server, or the like.

In an embodiment, the wheelchair interface component 104 is configuredto communicate with a client device 108 and to receive control commandsfrom the client device 108. For example, in an embodiment, thewheelchair-assist robot 102 is controlled via one or more inputs from atleast one client device 108 associated with a wheelchair 106.Non-limiting examples of client devices 108 include a wearable device, asmart device, a smart eyewear device, a smart wearable device, acomputer device, a laptop computer device, a notebook computer device, adesktop computer device, a cell phone device, a tablet device, a managednode device, a remote controller, an application interface with a smartdevice, and the like. Further non-limiting examples of client devices108 include wheelchair controllers 110, client devices 108 associatedwith a wheelchair 106, client devices 108 associated with awheelchair-assist robot 102, and the like. Further non-limiting examplesof client devices 108 include tongue drive control devices, sip-and-puffcontrol devices, thought-based control devices, eye-tracking controldevices, and the like. In an embodiment, the wheelchair-assist robot 102is controlled via one or more inputs from a wheelchair controller 110.Further non-limiting examples of client devices 108 include input-outputdevices, user interfaces, graphical user interfaces, interactiondevices, microphones, and the like.

In an embodiment, during operation the wheelchair interface component104 is operable to find and establish a communication link with anassociated wheelchair 106. For example, in an embodiment, the wheelchairinterface component 104 includes circuitry 101 configured to detect anelectromagnetic signal from a wheelchair controller 110 of an associatedwheelchair 106. In an embodiment, the wheelchair interface component 104includes one or more electromagnetic energy sensors that detect awireless signal from a wheelchair controller 110. In an embodiment, thewheelchair interface component 104 includes circuitry 103 configured tosend and receive one or more electromagnetic energy communications toand from a wheelchair controller 110. In an embodiment, the wheelchairinterface component 104 is configured to detect a client device 108associated with a remote wheelchair 106. In an embodiment, thewheelchair interface component 104 is configured to detect a clientdevice 108 associated with a wheelchair controller 110. In anembodiment, the wheelchair interface component 104 is configured todetect a beacon associated with a wheelchair controller 110. In anembodiment, the wheelchair interface component 104 includes circuitry105 configured to initiate a discovery protocol that allows thewheelchair interface component and a wheelchair controller 110 toidentify each other and to negotiate one or more pre-shared keys.

In an embodiment, during operation the wheelchair interface component104 is operable to establish a communication link with a remote networkdevice, a remote enterprise device, a cloud network device, a cloudserver, and the like. For example, in an embodiment, the wheelchairinterface component 104 includes at least one of a receiver, atransmitter, and a transceiver operable to establish a communicationlink with a remote enterprise device. In an embodiment, the wheelchairinterface component 104 includes at least one of a receiver, atransmitter, and a transceiver operable to exchange routing orsurveillance target instructions with a remote enterprise device. In anembodiment, the wheelchair interface component 104 includes at least oneof a receiver, a transmitter, and a transceiver operable to communicatetravel route status information with a client device 108 associated witha wheelchair 106. In an embodiment, the wheelchair-assist robot 102 isoperable to receive routing or surveillance target instructions from anassociated wheelchair 106.

In an embodiment, the wheelchair-assist robot 102 includes asurveillance component 112. In an embodiment the surveillance component112 is operably coupled to one or more devices, components, sensors, andthe like that acquire surveillance information to assist a user, anassociated wheelchair 106, and the like acquire information regardingtravel routes, environmental conditions, hazards, wheelchairaccessibility, etc. In an embodiment, the surveillance component 112 isconfigured to exchange routing instructions with an associatedwheelchair 106. For example, in an embodiment, the surveillancecomponent 112 includes circuitry 107 configured to exchange routinginstructions with an associated wheelchair 106. In an embodiment, thesurveillance component 112 includes at least one of a receiver, atransmitter, and a transceiver operable to exchange routing instructionswith an associated wheelchair 106. In an embodiment, the surveillancecomponent 112 is configured to exchange surveillance target informationwith an associated wheelchair 106. In an embodiment, the surveillancecomponent 112 is configured to exchange travel route status informationwith the wheelchair controller 110.

In an embodiment, the wheelchair-assist robot 102 includes asurveillance component 112 configured to generate travel route statusinformation. For example, in an embodiment, the surveillance component112 includes circuitry 109 configured to generate travel route statusinformation based on one or more inputs from a wheelchair controller110. In an embodiment, the surveillance component 112 includes circuitry109 configured to generate travel route status information based on oneor more inputs from a client device 108. In an embodiment, thetravel-route status information to be generated includes one or more oftravel-route traffic information, travel-route obstacle locationinformation, travel-route map information, travel-route geographicallocation information, travel-route surface information, travel-routeimages, and the like. In an embodiment, the surveillance component 112includes circuitry 111 configured to determine a geographical locationof the wheelchair-assist robot 102.

In an embodiment, the surveillance component 112 comprises one or moresensors 113. Non-limiting examples of sensors 113 include acousticsensors, optical sensors, electromagnetic energy sensors, image sensors,photodiode arrays, charge-coupled devices (CCDs), complementarymetal-oxide-semiconductor (CMOS) devices, transducers, opticalrecognition sensors, infrared sensors, radio frequency sensors, thermosensor, and the like. Further not limiting examples of sensors 113include accelerometers, inertial sensors, motion sensors, and the like.Further non-limiting examples of sensors 112 include directionalsensors, geographical sensor, inertial navigation sensors, locationsensor, object sensor, orientation sensors, tracking sensors, nodes, andthe like

In an embodiment, the surveillance component 112 comprises an imagecapture component 114. In an embodiment, the image capture component 114is operably coupled to one or more sensors 113. For example, in anembodiment, the image capture component 114 is operably coupled to oneor more image sensors and is operable to acquire image information. Inan embodiment, the image capture component 114 comprises an infraredimage capture component. In an embodiment, the image capture component114 comprises a radar based object-detection device.

In an embodiment, the surveillance component 112 comprises an imagecapture component 114 that communicates captured image data with aremote network device. In an embodiment, the surveillance component 112comprises an image capture component 114 that communicates capturedimage data with a wheelchair controller 110 for further processing andanalysis. For example, in an embodiment, the surveillance component 112comprises an image capture component 114 that communicates capturedimage data with a wheelchair controller 110 and receives controlcommands form the wheelchair controller 110 based on the captured imagedata.

In an embodiment, the surveillance component 112 includes circuitry 115configured to acquire travel-route status information from a remotenetwork device. In an embodiment, the surveillance component 112includes circuitry 117 configured to acquire wheelchair accessinformation from a remote network device. In an embodiment, thesurveillance component 112 includes circuitry 119 configured to acquirepedestrian traffic information from a remote network device. In anembodiment, the surveillance component 112 includes circuitry 121configured to generate real-time travel route status informationresponsive to an input indicative of a change to a travel-route status.

In an embodiment, the image capture component 114 includes circuitry 123configured to capture three-dimensional images. For example, in anembodiment, the image capture component 114 includes a camera 204configured to capture three-dimensional images (e.g., via stereoscopiccombination of two or more 2-D images, via combination of range datawith a 2-D image, etc.). In an embodiment, the image capture component114 includes a pan tilt zoom (PTZ) camera. In an embodiment, the imagecapture component 114 comprises a camera 204 having an illuminationcomponent.

Referring to FIGS. 1 and 2, in an embodiment, a mobile wheelchair-assistrobot 102 includes a plurality of rotatable members 116 operable tofrictionally interface the mobile wheelchair-assist robot 102 to atravel surface and to move the mobile wheelchair-assist robot 102 alongthe travel surface. Non-limiting examples of rotatable members 116include articulated tracks, continuous tracks, wheels, casters, ballrollers, drive wheels, steer wheels, propellers, or the like. In anembodiment, rotatable members 116 include one or more of motors, rotors,hubs, cranks, sprockets, brake assemblies, bearing assemblies, etc. Inan embodiment, the mobile wheelchair-assist robot 102 includes one ormore tracks. In an embodiment, the mobile wheelchair-assist robot 102includes an articulated track assembly 120 including one or morecontinuous tracks 122 operable to move the mobile wheelchair-assistrobot 102 along a travel path. In an embodiment, the mobilewheelchair-assist robot 102 includes an articulated track assembly 120operable to move the mobile wheelchair-assist robot 102 along a travelpath having stairs.

In an embodiment, the mobile wheelchair-assist robot 102 includes anautonomous imaged-guided climbing component 124 in communication withthe articulated track assembly 120. In an embodiment, the autonomousimaged-guided climbing component 124 includes circuitry 126 configuredto communicate one or more navigation control commands to vary one ormore of propulsion, braking, or steering of the articulated trackassembly 120 responsive to at least one input from one or more sensors113.

In an embodiment, one or more rotatable members 116 include one or morebrushless electric motors. In an embodiment, one or more of therotatable members 116 are operably coupled to one or more actuators thatuse an electrical current or magnetic actuating force to vary the motionof a rotating component (e.g., an actuator that rotates an axle coupledto the wheel to give it steering, an actuator that activates a rotatingcomponent forming part of an electric brake system, a magnetic bearing,a magnetic torque device, a brushless electric motor, etc. to varyvelocity, etc.). In an embodiment, the mobile wheelchair-assist robot102 includes one or more wheels, each wheel having an electric wheel hubmotor.

In an embodiment, the mobile wheelchair-assist robot 102 comprises asteering assembly 118 having one or more components, mechanisms,linkages, steering gear assemblies, or the like operable to steer themobile wheelchair-assist robot 102. In an embodiment, the steeringassembly 118 is operable to vary a steering angle, an orientation, avelocity, etc., of one or more rotatable members 116 responsive to oneor more inputs from a surveillance component 112, a wheelchair interfacecomponent 104, a client device 108 associated with the wheelchair 106,and the like.

In an embodiment, the mobile wheelchair-assist robot 102 comprises asteering assembly 118 having one or more electro-mechanical elementsoperable to vary a steering angle, an orientation, a velocity, etc., ofat least one rotatable member 116. In an embodiment, the steeringassembly 118 is operable to vary a steering angle, an orientation, avelocity, etc., of one or more wheels. In an embodiment, the mobilewheelchair-assist robot 102 comprises a steering assembly 118 having oneor more components linkages, steering gear assemblies, rod assemblies,or the like that aid in directing the mobile wheelchair-assist robot 102along a target course. In an embodiment, the mobile wheelchair-assistrobot 102 comprises steering assembly 118 having one or more actuators,electric wheel hub motors, magnetic bearings, magnetic torque devices,brushless electric motors, or the like that aid in directing the mobilewheelchair-assist robot 102 along a target course. In an embodiment, themobile wheelchair-assist robot 102 comprises steering assembly 118having one or more track assemblies that aid in directing the mobilewheelchair-assist robot 102 along a target course including stairs.

In an embodiment, the mobile wheelchair-assist robot 102 includes animage capture component 114 operable to locate an associated wheelchair106. In an embodiment, the image capture component 114 is operablycoupled to a power source and includes one or more components havingcircuitry configured to operate the power source and steering assembly118 so as to maintain the mobile wheelchair-assist robot 102 at a targetseparation from an associated wheelchair 106. In an embodiment, thesteering assembly 118 is communicatively coupled, physically coupled,electromagnetically coupled, magnetically coupled, ultrasonicallycoupled, optically coupled, inductively coupled, electrically coupled,capacitively coupled, wirelessly coupled, or the like) to the imagecapture component 114 and is configured to vary a mobilewheelchair-assist robot 102 heading based on one or more inputs from theimage capture component 114 indicative of a change in position by theassociated wheelchair 106. In an embodiment, the steering assembly 118is communicatively coupled to the image capture component 114 and isconfigured to vary a mobile wheelchair-assist robot 102 heading based ona change in position by the associated wheelchair 106. In an embodiment,the steering assembly 118 is communicatively coupled to the imagecapture component 114 and is operable to control a direction of travelbased on one or more inputs from the image capture component 114indicative of a sensed change in position by the associated wheelchair106. In an embodiment, the steering assembly 118 is operable to vary asteering angle, an orientation, a velocity, etc., of at least onerotatable member 110 based on a change in position by the associatedwheelchair 106.

Non-limiting examples of wheelchairs 106 include manual wheelchairs,powered wheelchairs, electric wheelchairs, a self-propelled wheelchair,and the like. Further non-limiting examples of wheelchairs 106 includewheelchairs where the occupant normally powers and steers it with hishands via two large rear wheels. In an embodiment, large rear wheelsallow the user of the wheelchair to self-propel, grasping the rearwheels, which have an extended rim, or handrim, that does not come incontact with the ground and thus allows the user to spin the rearwheels. This category would also include those wheelchairs that aredesigned to be pushed from behind by another person, either primarily oras an alternative/auxiliary propulsion means.

Referring to FIGS. 1 and 2, in an embodiment, the mobilewheelchair-assist robot 102 includes a surveillance component 112 havingone or more object sensors. In an embodiment, the surveillance component112 is configured to maintain the mobile wheelchair-assist robot 102 ata target separation from an associated wheelchair 106 based on one ormore inputs form at least one object sensor. For an example, in anembodiment, during operation, the surveillance component 112 determinesthe location, trajectory, direction of travel, etc., of an associatedwheelchair 106 based on one or more inputs from at least one objectsensor. Once the location, trajectory, direction of travel, etc., isdetermined, the steering assembly 118 is operable to vary a steeringangle, an orientation, a velocity, etc., of one or more rotatablemembers 116 so as to maintain the mobile wheelchair-assist robot 102 ata target separation from an associated wheelchair 106. In an embodiment,the surveillance component 112 is configured to maintain the mobilewheelchair-assist robot 102 at a target distance in front of theassociated wheelchair 106 responsive to one or more inputs indicative ofa wheelchair location. In an embodiment, the surveillance component 112is configured to maintain the mobile wheelchair-assist robot 102 at atarget distance behind the associated wheelchair 106. In an embodiment,the surveillance component 112 is configured to maintain the mobilewheelchair-assist robot 102 at a target distance from a side of theassociated wheelchair 106.

In an embodiment, the surveillance component 112 is configured to surveya target region. For example, during operation, a user via thewheelchair interface component 104 can cause the surveillance component112 to survey a target region of interest. In an embodiment, thesurveillance component 112 is configured to generate one or moreparameters associated with a target region responsive to one or moreinputs from the wheelchair interface component 104. In an embodiment,the surveillance component 112 is configured to generate one or moreparameters associated with the target region responsive to one or moreinputs indicative of an associated wheelchair route. In an embodiment,the surveillance component 112 is configured to generate one or moreparameters associated with the target region responsive to one or moreinputs indicative of an associated wheelchair orientation. In anembodiment, the surveillance component 112 is configured to select thetarget region based on an associated wheelchair's orientation, position,or route; for instance to examine a region in front of the wheelchair,to the side of its route, etc.

In an embodiment, the surveillance component 112 includes one or morememories having wheelchair travel-route information stored thereon. Inan embodiment, the surveillance component 112 comprises geographicalinformation, navigation coordinate information, and the like stored onone or memories that is used to generate surveillance protocolsincluding instructions for inspecting paths, roads, travel paths, etc.,relative to a route or position of a wheelchair 106. In an embodiment,the surveillance component 112 is configured to navigate the mobilewheelchair-assist robot 102 along a wheelchair travel route responsiveto one or more inputs indicative of an associated wheelchair position.In an embodiment, the surveillance component 112 includes circuitry 125configured to provide travel route status information (e.g., obstacleinformation, wheelchair accessibility information, availability ofassistive technology information, travel route traffic information, andthe like) based on one or more captured images.

In an embodiment, the surveillance component 112 includes circuitry 127configured to provide one or more of travel route image information,wheelchair geographic location information, or wheelchair traveldirection information based on one or more captured images. In anembodiment, the surveillance component 112 includes circuitry configuredto provide one or more of wheelchair travel velocity information,wheelchair propulsion information, or wheelchair braking informationbased on one or more captured images.

In an embodiment, the wheelchair interface component 104 includescircuitry 129 configured to generate one or more navigation controlcommands to vary one or more of propulsion, braking, or steering of anassociated wheelchair 106 based on at least one input from thesurveillance component 112. In an embodiment, the wheelchair interfacecomponent 104 is operably coupled one or more actuators, electric wheelhub motors, magnetic bearings, magnetic torque devices, brushlesselectric motors, or the like that aid in directing the an associatedwheelchair 106 along a target course based on at least one input fromthe surveillance component 112. In an embodiment, the wheelchairinterface component 104 includes circuitry 131 configured to communicateone or more navigation control commands to vary one or more ofpropulsion, braking, or steering of an associated wheelchair 106 basedon at least one input from the surveillance component 112. In anembodiment, the mobile wheelchair-assist robot 102 includes a camera204. In an embodiment, the mobile wheelchair-assist robot 102 includes acamera 204 that is operably coupled to the surveillance component 112.

In an embodiment, a wheelchair-assist robot 102 includes an articulatedarm assembly 202. In an embodiment, the articulated arm assembly 202 isoperable to exchange control information with a wheelchair client device108. In an embodiment, the articulated arm assembly 202 is operablycoupled to the wheelchair interface component 104. In an embodiment, thearticulated arm assembly 202 is configured for multi-axis articulationand rotation. In an embodiment, the articulated arm assembly 202 isconfigured to move between at least a first position and a secondposition. In an embodiment, the articulated arm assembly 202 isconfigured to move between a first position and a second positionresponsive to one or more inputs from a client device 108 associatedwith a wheelchair 106. In an embodiment, the articulated arm assembly202 is configured to move between one or more positions responsive toone or more inputs from an associated wheelchair 106. In an embodiment,the articulated arm assembly 202 is configured to move at least betweena first position and a second position responsive to one or more inputsfrom an associated wheelchair 106. In an embodiment, the articulated armassembly 202 is configured to move between a first position and a secondposition responsive to one or more inputs form the wheelchair interfacecomponent 104.

In an embodiment, the articulated arm assembly 202 comprises a graspingmechanism 220 configured to move a first grasping member 222 relative toa second grasping member 224 between at least a first position and asecond position. In an embodiment, the grasping mechanism 220 isconfigured to move the first grasping member 222 relative to the secondgrasping member 224 between an open position and a closed position.

In an embodiment, the wheelchair interface component 104 is configuredto vary the position of the grasping mechanism 220 based on one or moreinputs a wheelchair client device 108. In an embodiment, the graspingmechanism 220 is configured to move the first grasping member 222relative to the second grasping member 224 between an open position anda closed position responsive to one or more inputs from a client device108 associated with a wheelchair 106. In an embodiment, the graspingmechanism 220 is configured to move the first grasping member 222relative to the second grasping member 224 between an open position anda closed position responsive to one or more inputs from an associatedwheelchair 106. In an embodiment, the grasping mechanism 220 isconfigured to articulate between a first position and at least a secondposition responsive to one or more inputs form the wheelchair interfacecomponent 104.

In an embodiment, the grasping mechanism 220 is configured to grasp apower plug of an associated wheelchair power supply and insert the powerplug into an electrical outlet. In an embodiment, the wheelchair-assistrobot 102 includes a spare power supply for an associated wheelchair106. In an embodiment, the grasping mechanism 220 is configured to graspa power plug associated with the spare power supply and insert the powerplug into an electrical outlet. In an embodiment, the grasping mechanism220 is configured to grasp a doorknob or door lever in order to open orclose a door.

In another embodiment, the articulated arm assembly 202 comprises adigit member configured to move between at least a first position and asecond position. In an embodiment, the digit member is fixedly attachedto articulated arm assembly 202 and moves due to motion of articulatedarm assembly 202. In another embodiment, the digit member is configuredto move relative to articulated arm assembly 202. In one embodiment,motion of the digit member can be used to push a button in order toperform tasks such as ringing a doorbell, summoning an elevator, etc. Inan embodiment, the digit member is configured to move between a firstposition and a second position responsive to one or more inputs from aclient device 108 associated with a wheelchair 106. In an embodiment,the digit member is configured to move between a first position and asecond position responsive to one or more inputs from an associatedwheelchair 106. In an embodiment, the digit member is configured to movebetween a first position and a second position responsive to one or moreinputs form the wheelchair interface component 104.

In an embodiment, the wheelchair-assist robot 102 includes an autonomousimaged-guided engage component 133. In an embodiment, the autonomousimaged-guided engage component 133 is operable to generate one or morecommands that vary the position of the grasping mechanism 220, thearticulated arm assembly 202, or the digit member based on one or moreinputs from an imaging sensor. In an embodiment, the articulated armassembly 202 comprises one or more imaging sensor. In an embodiment, thearticulated arm assembly 202 comprises one or more imaging sensorproximate the grasping mechanism 220.

In an embodiment, a camera 204 is mounted on a distal end of anarticulated arm assembly 202. In an embodiment, the camera 204 isoperably coupled to the surveillance component 112. In an embodiment,the articulated arm assembly 202 changes a vertical or horizontalposition of the camera 204 responsive to one or more inputs from thewheelchair interface component 104. In an embodiment, the camera 204includes circuitry for capturing three-dimensional images. In anembodiment, the camera 204 comprises a pan tilt zoom (PTZ) camera. In anembodiment, the camera 204 comprises an illumination component.

In an embodiment, the wheelchair-assist robot 102 includes an autonomousnavigation component 135. For example, in an embodiment, thewheelchair-assist robot 102 includes an automated imaged-based obstacleavoidance component 206 configured to generate one or more navigationcontrol commands to vary one or more of propulsion, braking, or steeringof the mobile wheelchair-assist robot based on at least one input fromthe surveillance component 112.

Referring to FIGS. 2 and 3, in an embodiment, the wheelchair-assistrobot 102 includes a powered winch assembly 208 mounted on a frame. Inan embodiment, the winch assembly 208 is operably coupled to thewheelchair interface component 104. In an embodiment, the winch assembly208 is configured to deploy responsive to one or more inputs from aclient device 108. In an embodiment, the winch assembly 208 isconfigured to deploy responsive to one or more inputs from thewheelchair interface component 104.

In an embodiment, the wheelchair-assist robot 102 includes an anchorassembly 210. In an embodiment, during operation the wheelchair-assistrobot 102 can anchor itself to the ground or a structure along a travelpath when pulling a wheelchair 106. In an embodiment, the anchorassembly 210 include one or more of a hook, a cable, a pull member, anattachment member, an anchor, and the like.

In an embodiment, the powered winch assembly 208 includes a pull member212 configured to connect to a wheelchair 106 and to pull the wheelchair106 along a travel path responsive to one or more inputs from thewheelchair interface component 104. In an embodiment, the pull member212 comprises a cable, a wire, or a rope. In an embodiment, the poweredwinch assembly 208 includes a pull member 212 configured to connect to awheelchair 106 and to pull the wheelchair 106 along a travel pathresponsive to one or more inputs from a client device 108.

In an embodiment, the powered winch assembly 208 includes a winch drum214 operably coupled to a drive mechanism that winds a pull member 212around the winch drum 214. In an embodiment, the wheelchair interfacecomponent 104 includes circuitry 137 configured to generate one or morewinch control commands to vary a winch drum 214 turn rate responsive toone or more inputs from the wheelchair interface component 104.

In an embodiment, the wheelchair interface component 104 includescircuitry 137 configured to generate one or more winch control commandsto vary a torque based on at least one input from the wheelchairinterface component 104. In an embodiment, the wheelchair interfacecomponent 104 includes circuitry 103 configured to send and receive oneor more electromagnetic energy communications to and from a wheelchaircontroller 110. In an embodiment, the wheelchair interface component 104includes at least one of a receiver, a transmitter, and a transceiveroperable to communicate with a wheelchair controller 110.

FIGS. 4A and 4B show a wheelchair-assist robot system 100 in which oneor more methodologies or technologies can be implemented such as, forexample, assisting an individual subject (e.g., a patient, a humansubject, an animal subject, a user, a passenger, etc.) in a wheelchairwith everyday tasks. In an embodiment, the wheelchair-assist robotsystem 100 includes one or more flying wheelchair-assist robots 402. Inan embodiment, the flying wheelchair-assist robot 402 assists awheelchair user with everyday tasks at work, at home, and the like.

In an embodiment, the flying wheelchair-assist robot 402 is operablycoupled to a wheelchair interface component 104. In an embodiment, theflying wheelchair-assist robot 402 includes a rotorcraft structure 404.In an embodiment, the rotorcraft structure 404 includes one or morerotors 406 for generating lift. In an embodiment, the rotorcraftstructure 404 includes multiple rotors 406 driven by respective motors408. In an embodiment, the rotorcraft structure 404 includes a pluralityof rotary wings 410. In an embodiment, the rotorcraft structure 404comprises a multirotor helicopter.

In an embodiment, the flying wheelchair-assist robot 402 includes anelectronic surveillance payload 412. In an embodiment, the electronicsurveillance payload 412 includes one or more image sensors. In anembodiment, the electronic surveillance payload 412 includes one or moreacoustic sensors. In an embodiment, the electronic surveillance payload412 includes one or more electromagnetic energy sensors. In anembodiment, the electronic surveillance payload 412 includes at leastone of a receiver, a transmitter, and a transceiver. In an embodiment,the electronic surveillance payload 412 includes one or more componentsconfigured to provide travel route status information based on one ormore captured images.

In an embodiment, the flying wheelchair-assist robot 402 includes awheelchair interface component 104 operable to exchange controlinformation with a wheelchair client device 108. In an embodiment, thewheelchair interface component 104 includes circuitry 129 configured togenerate one or more navigation control commands to vary one or more ofpropulsion, braking, or steering of an associated wheelchair 106 basedon at least one input from a component associated with the electronicsurveillance payload 412.

In an embodiment, the flying wheelchair-assist robot 402 includes afastening structure 414 for removably attaching the flyingwheelchair-assist robot to a wheelchair 106. In an embodiment, theflying wheelchair-assist robot 402 includes a fastening structure 414having a power interface, the fastening structure 414 dimensioned andconfigured to removably attach the flying wheelchair-assist robot 402 toa wheelchair 106, and to electrically couple the flyingwheelchair-assist robot 402 to a wheelchair power supply.

In an embodiment, the flying wheelchair-assist robot 402 includes animage capture component 114. In an embodiment, the image capturecomponent 114 comprises an infrared image capture component. In anembodiment, the image capture component 114 comprises a radar basedobject-detection device. In an embodiment, the image capture component114 includes one or more object sensors and is configured to maintainthe flying wheelchair-assist robot 402 at a target separation from anassociated wheelchair 106. In an embodiment, the image capture component114 is configured to maintain the flying wheelchair-assist robot 402 ata target distance above the associated wheelchair 106. In an embodiment,the image capture component 114 is configured to maintain the flyingwheelchair-assist robot 402 at a target distance in front of theassociated wheelchair 106. In an embodiment, the image capture component114 is configured to maintain the flying wheelchair-assist robot 402 ata target distance behind the associated wheelchair 106. In anembodiment, the image capture component 114 is configured to maintainthe flying wheelchair-assist robot 402 at a target distance from a sideof the associated wheelchair 106.

In an embodiment, the image capture component 114 is configured tosurvey a target region (e.g., surveillance region, a target surveillanceregion, a travel route region, and the like.) For example, duringoperation, a user via the wheelchair interface component 104, can causethe image capture component 114 to survey a target region of interest.In an embodiment, the image capture component 114 is configured togenerate one or more parameters associated with a target regionresponsive to one or more inputs from the wheelchair interface component104. In an embodiment, the image capture component 114 is configured togenerate one or more parameters associated with the target regionresponsive to one or more inputs indicative of an associated wheelchairroute. In an embodiment, the image capture component 114 is configuredto generate one or more parameters associated with the target regionresponsive to one or more inputs indicative of an associated wheelchairorientation. In an embodiment, the image capture component 114 isconfigured to select the target region based on an associatedwheelchair's orientation, position, or route; for instance to examine aregion behind the wheelchair, in front of its route, etc.

In an embodiment, the flying wheelchair-assist robot 402 includescircuitry 123 for capturing three-dimensional images. In an embodiment,the flying wheelchair-assist robot 402 includes a pan tilt zoom (PTZ)camera. In an embodiment, the flying wheelchair-assist robot 402includes an illumination component. In an embodiment, the flyingwheelchair-assist robot 402 includes an autonomous navigation componentthat generates one or more navigation control commands responsive to atleast one input form the image capture component 114.

Referring to FIG. 4B, in an embodiment, the flying wheelchair-assistrobot 402 includes a transfer arm assembly 416 connected to apayload-support structure 418. In an embodiment, the transfer armassembly 416 is configured for autonomous transfer of a payload to andfrom the payload-support structure 418.

Referring to FIG. 4A, in an embodiment, the flying wheelchair-assistrobot 402 includes circuitry 139 for providing an audio signalindicative of a presence, arrival, or imminent arrival of an associatedwheelchair 106. For example, in an embodiment, the flyingwheelchair-assist robot 402 includes one or more speakers. In anembodiment, the flying wheelchair-assist robot 402 includes one or morememories having wheelchair travel-route information stored thereon. Inan embodiment, the flying wheelchair-assist robot 402 includes one ormore memories having geographical information associated with awheelchair travel route stored thereon.

Referring to FIG. 4B, in an embodiment, a fastening structure 414includes a drive assembly 420 including a drive motor operativelyconnected to a client device 108. In an embodiment, the fasteningstructure 414 is operable to transition between a wheelchair-assistrobot deploy configuration 422 and a wheelchair-assist robot secureconfiguration 424 when the drive assembly 420. For example, in anembodiment, the fastening structure 414 is operable to transitionbetween a wheelchair-assist robot deploy configuration 422 and awheelchair-assist robot secure configuration 424 when the drive assembly420 is activated by one or more inputs from a client device 108 or anassociated wheelchair 106. In an embodiment, the fastening structure 414includes a power interface. In an embodiment, the fastening structure414 is dimensioned and configured to removably attach the flyingwheelchair-assist robot 402 to a wheelchair 106, and to electricallycouple the flying wheelchair-assist robot 402 to a wheelchair powersupply.

FIG. 5 shows a wheelchair-assist robot system 100 in which one or moremethodologies or technologies can be implemented such as, for example,assisting an individual subject (e.g., a patient, a human subject, ananimal subject, a user, a passenger, etc.) in a wheelchair with everydaytasks. In an embodiment, the wheelchair-assist robot system 100 includesone or more wheelchair-assist robots 102. In an embodiment,wheelchair-assist robot system 100 includes at least onewheelchair-assist robot mount assembly 502 constructed and arranged tobe mounted onto a wheelchair 106.

In an embodiment, the wheelchair-assist robot mount assembly 502comprises a portion 504 that engages a mobile wheelchair-assist robot102 and causes the mobile wheelchair-assist robot 102 to physicallysecure against a portion of the wheelchair 106. In an embodiment, thewheelchair-assist robot mount assembly 502 includes a portion 504 thatengages the mobile wheelchair-assist robot 102 and causes the mobilewheelchair-assist robot 102 to physically secure against a portion ofthe wheelchair 106 in response to movement of the wheelchair-assistrobot mount assembly 502.

In an embodiment, the wheelchair-assist robot mount assembly 502includes a powered device mechanism 506 that engages the mobilewheelchair-assist robot 102 and causes the mobile wheelchair-assistrobot 102 to physically secure against a portion of the wheelchair 106in response to one or more inputs from a client device 108 associatedwith a wheelchair. In an embodiment, the wheelchair-assist robot mountassembly 502 includes a power interface component operable toelectrically couple the mobile wheelchair-assist robot 102 to awheelchair power supply.

In an embodiment, the wheelchair-assist robot mount assembly 502includes a wheelchair interface component 104 that allows a wheelchaircontroller and the wheelchair-assist robot 102 to exchange controlcommands. In an embodiment, the wheelchair-assist robot mount assembly502 includes a wheelchair interface component 104 that allows a clientdevice 108 associated with a wheelchair 106 and the wheelchair-assistrobot 102 to exchange control commands.

In an embodiment, the wheelchair-assist robot mount assembly 502comprises a chassis 508 constructed and arranged to support thewheelchair-assist robot 102.

In an embodiment, the wheelchair-assist robot mount assembly 502comprises a mounting frame 510 secured to the chassis 508. In anembodiment, the mounting frame 510 is constructed and arranged tophysically secure against a portion of the wheelchair 106.

In an embodiment, the wheelchair-assist robot mount assembly 502includes a drive assembly 512 including a drive motor operativelyconnected to a client device 108. In an embodiment, thewheelchair-assist robot mount assembly 502 is operable to transitionbetween a wheelchair-assist robot deploy configuration 514 and awheelchair-assist robot secure configuration 516 when the drive assembly512 is activated by one or more inputs from the client device 108.

In an embodiment, the wheelchair-assist robot mount assembly 502includes a wheelchair-assist robot interface 518 configured to exchangecontrol information with the wheelchair-assist robot 102. In anembodiment, the wheelchair-assist robot mount assembly 502 includes awheelchair-assist robot dock interface 520 configured to communicablycouple the wheelchair-assist robot 102 to an associated wheelchair 106.In an embodiment, the wheelchair-assist robot mount assembly 502includes a wheelchair-assist robot dock interface 520 configured toelectrically couple the wheelchair-assist robot 102 to a power supply ofan associated wheelchair 106. In an embodiment, wheelchair-assist robotsystem 100 includes a coupling component 522 mounted to thewheelchair-assist robot mount assembly 502 for physically coupling ofthe wheelchair-assist robot 102 to a wheelchair.

In an embodiment, wheelchair-assist robot system 100 includes anautonomous imaged-guided docking component 524 operably coupled to thewheelchair-assist robot 102. In an embodiment, the autonomousimaged-guided docking component 524 includes circuitry configured tocommunicate one or more navigation control commands to vary one or moreof propulsion, braking, or steering of the wheelchair-assist robot 102responsive to one or more inputs indicative of wheelchair-assist robotposition relative to the wheelchair-assist robot mount assembly 502. Inan embodiment, the wheelchair-assist robot mount assembly 502 includesone or more sensors operably coupled to the wheelchair-assist robot 102,the one or more sensors configured to generate control information toguide the wheelchair-assist robot system onto the wheelchair-assistrobot mount assembly 502.

In an embodiment, the wheelchair-assist robot mount assembly 502includes an inductive power component 526. In an embodiment, thewheelchair-assist robot mount assembly 502 includes an inertialreference component.

In an embodiment, the wheelchair-assist robot mount assembly 502includes one or more guide structure elements 528 dimensioned andconfigured to align the wheelchair-assist robot system onto thewheelchair-assist robot mount assembly 502. In an embodiment, thewheelchair-assist robot mount assembly 502 includes one or morefriction-fit members dimensioned and configured to secure thewheelchair-assist robot system to the wheelchair-assist robot mountassembly 502. In an embodiment, the wheelchair-assist robot mountassembly 502 includes one or more locking members dimensioned andconfigured to secure the wheelchair-assist robot system to thewheelchair-assist robot mount assembly 502. In an embodiment, thewheelchair-assist robot mount assembly 502 includes one or more clampingmembers dimensioned and configured to secure the wheelchair-assist robotsystem to the wheelchair-assist robot mount assembly 502.

In an embodiment, the wheelchair-assist robot 102 is operably coupled toa client device 108 of an associated wheelchair 106. In an embodiment,the wheelchair-assist robot 102 includes circuitry configured to receivetravel route status information from the client device 108 of anassociated wheelchair 106. In an embodiment, the wheelchair-assist robotincludes circuitry configured to receive travel route status informationfrom the client device 108 of an associated wheelchair (e.g., obstacleinformation, wheelchair accessibility information, availability ofassistive technology information, travel route traffic information, andthe like) based on one or more transmitted images.

In an embodiment, the wheelchair-assist robot 102 includes an imagecapture component 114. In an embodiment, the image capture component 114is configured to communicate image information with a client device 108of an associated wheelchair 106. In an embodiment, the image capturecomponent 114 is configured to communicate infrared image informationwith a client device 108 of an associated wheelchair 106. In anembodiment, the image capture component 114 is configured to communicateinfrared image information with a client device 108 of an associatedwheelchair 106. In an embodiment, the image capture component 114comprises a radar based object-detection device.

In an embodiment, the image capture component 114 includes one or moreobject sensors and is configured to maintain the mobilewheelchair-assist robot at a target separation from an associatedwheelchair 106. In an embodiment, the image capture component 114 isconfigured to maintain the mobile wheelchair-assist robot at a targetdistance above the associated wheelchair 106. In an embodiment, theimage capture component 114 is configured to maintain the mobilewheelchair-assist robot at a target distance in front of the associatedwheelchair 106. In an embodiment, the image capture component 114 isconfigured to maintain the mobile wheelchair-assist robot at a targetdistance behind the associated wheelchair 106. In an embodiment, theimage capture component 114 is configured to maintain the mobilewheelchair-assist robot at a target distance from a side of theassociated wheelchair 106.

In an embodiment, the image capture component 114 is configured tosurvey a target region. In an embodiment, the image capture component114 is configured to generate one or more parameters associated with thetarget region responsive to one or more inputs from the wheelchairinterface component 104. In an embodiment, the image capture component114 is configured to generate one or more parameters associated with thetarget region responsive to one or more inputs indicative of anassociated wheelchair route. In an embodiment, the image capturecomponent 114 is configured to select the target region based on theassociated wheelchair's orientation, position, or route; for instance toexamine a region to the side of the wheelchair, down a cross street,etc.

In an embodiment, the wheelchair-assist robot 102 is configured to dockunderneath a wheelchair 106. For example, in an embodiment, duringoperation, a wheelchair-assist robot 102 assisting a manual wheelchair,would dock underneath the wheelchair, elevate the wheelchair slightlysuch that the wheelchair's drive wheels (or all of its wheels) no longercontact the ground) and then propel and steer the wheelchair asdescribed in this application. In an embodiment, wheelchair's wheelsremain in contact with the ground to some degree in order to providestability and more precise steering.

The claims, description, and drawings of this application may describeone or more of the instant technologies in operational/functionallanguage, for example as a set of operations to be performed by acomputer. Such operational/functional description in most instances canbe specifically-configured hardware (e.g., because a general purposecomputer in effect becomes a special purpose computer once it isprogrammed to perform particular functions pursuant to instructions fromprogram software).

Importantly, although the operational/functional descriptions describedherein are understandable by the human mind, they are not abstract ideasof the operations/functions divorced from computational implementationof those operations/functions. Rather, the operations/functionsrepresent a specification for the massively complex computationalmachines or other means. As discussed in detail below, theoperational/functional language must be read in its proper technologicalcontext, i.e., as concrete specifications for physical implementations.

The logical operations/functions described herein are a distillation ofmachine specifications or other physical mechanisms specified by theoperations/functions such that the otherwise inscrutable machinespecifications may be comprehensible to the human mind. The distillationalso allows one of skill in the art to adapt the operational/functionaldescription of the technology across many different specific vendors'hardware configurations or platforms, without being limited to specificvendors' hardware configurations or platforms.

Some of the present technical description (e.g., detailed description,drawings, claims, etc.) may be set forth in terms of logicaloperations/functions. As described in more detail in the followingparagraphs, these logical operations/functions are not representationsof abstract ideas, but rather representative of static or sequencedspecifications of various hardware elements. Differently stated, unlesscontext dictates otherwise, the logical operations/functions arerepresentative of static or sequenced specifications of various hardwareelements. This is true because tools available to implement technicaldisclosures set forth in operational/functional formats—tools in theform of a high-level programming language (e.g., C, java, visual basic),etc.), or tools in the form of Very high speed Hardware DescriptionLanguage (“VIDAL,” which is a language that uses text to describe logiccircuits)—are generators of static or sequenced specifications ofvarious hardware configurations. This fact is sometimes obscured by thebroad term “software,” but, as shown by the following explanation, whatis termed “software” is a shorthand for a massively complexinterchanging/specification of ordered-matter elements. The term“ordered-matter elements” may refer to physical components ofcomputation, such as assemblies of electronic logic gates, molecularcomputing logic constituents, quantum computing mechanisms, etc.

For example, a high-level programming language is a programming languagewith strong abstraction, e.g., multiple levels of abstraction, from thedetails of the sequential organizations, states, inputs, outputs, etc.,of the machines that a high-level programming language actuallyspecifies. See, e.g., Wikipedia, High-level programming language,available at the websiteen.wikipedia.org/wiki/High-level_programming_language (as of Jun. 5,2012, 21:00 GMT). In order to facilitate human comprehension, in manyinstances, high-level programming languages resemble or even sharesymbols with natural languages. See, e.g., Wikipedia, Natural language,available at the website en.wikipedia.org/wiki/Natural_language (as ofJun. 5, 2012, 21:00 GMT).

It has been argued that because high-level programming languages usestrong abstraction (e.g., that they may resemble or share symbols withnatural languages), they are therefore a “purely mental construct”(e.g., that “software”—a computer program or computer-programming—issomehow an ineffable mental construct, because at a high level ofabstraction, it can be conceived and understood in the human mind). Thisargument has been used to characterize technical description in the formof functions/operations as somehow “abstract ideas.” In fact, intechnological arts (e.g., the information and communicationtechnologies) this is not true.

The fact that high-level programming languages use strong abstraction tofacilitate human understanding should not be taken as an indication thatwhat is expressed is an abstract idea. In an embodiment, if a high-levelprogramming language is the tool used to implement a technicaldisclosure in the form of functions/operations, it can be understoodthat, far from being abstract, imprecise, “fuzzy,” or “mental” in anysignificant semantic sense, such a tool is instead a nearincomprehensibly precise sequential specification of specificcomputational-machines—the parts of which are built up byactivating/selecting such parts from typically more generalcomputational machines over time (e.g., clocked time). This fact issometimes obscured by the superficial similarities between high-levelprogramming languages and natural languages. These superficialsimilarities also may cause a glossing over of the fact that high-levelprogramming language implementations ultimately perform valuable work bycreating/controlling many different computational machines.

The many different computational machines that a high-level programminglanguage specifies are almost unimaginably complex. At base, thehardware used in the computational machines typically consists of sometype of ordered matter (e.g., traditional electronic devices (e.g.,transistors), deoxyribonucleic acid (DNA), quantum devices, mechanicalswitches, optics, fluidics, pneumatics, optical devices (e.g., opticalinterference devices), molecules, etc.) that are arranged to form logicgates. Logic gates are typically physical devices that may beelectrically, mechanically, chemically, or otherwise driven to changephysical state in order to create a physical reality of Boolean logic.

Logic gates may be arranged to form logic circuits, which are typicallyphysical devices that may be electrically, mechanically, chemically, orotherwise driven to create a physical reality of certain logicalfunctions. Types of logic circuits include such devices as multiplexers,registers, arithmetic logic units (ALUs), computer memory devices, etc.,each type of which may be combined to form yet other types of physicaldevices, such as a central processing unit (CPU)—the best known of whichis the microprocessor. A modern microprocessor will often contain morethan one hundred million logic gates in its many logic circuits (andoften more than a billion transistors). See, e.g., Wikipedia, Logicgates, available at the website en.wikipedia.org/wiki/Logic_gates (as ofJun. 5, 2012, 21:03 GMT).

The logic circuits forming the microprocessor are arranged to provide amicroarchitecture that will carry out the instructions defined by thatmicroprocessor's defined Instruction Set Architecture. The InstructionSet Architecture is the part of the microprocessor architecture relatedto programming, including the native data types, instructions,registers, addressing modes, memory architecture, interrupt andexception handling, and external Input/Output. See, e.g., Wikipedia,Computer architecture, available at the websiteen.wikipedia.org/wiki/Computer_architecture (as of Jun. 5, 2012, 21:03GMT).

The Instruction Set Architecture includes a specification of the machinelanguage that can be used by programmers to use/control themicroprocessor. Since the machine language instructions are such thatthey may be executed directly by the microprocessor, typically theyconsist of strings of binary digits, or bits. For example, a typicalmachine language instruction might be many bits long (e.g., 32, 64, or128 bit strings are currently common). A typical machine languageinstruction might take the form “11110000101011110000111100111111” (a 32bit instruction).

It is significant here that, although the machine language instructionsare written as sequences of binary digits, in actuality those binarydigits specify physical reality. For example, if certain semiconductorsare used to make the operations of Boolean logic a physical reality, theapparently mathematical bits “1” and “0” in a machine languageinstruction actually constitute a shorthand that specifies theapplication of specific voltages to specific wires. For example, in somesemiconductor technologies, the binary number “1” (e.g., logical “1”) ina machine language instruction specifies around +5 volts applied to aspecific “wire” (e.g., metallic traces on a printed circuit board) andthe binary number “0” (e.g., logical “0”) in a machine languageinstruction specifies around −5 volts applied to a specific “wire.” Inaddition to specifying voltages of the machines' configuration, suchmachine language instructions also select out and activate specificgroupings of logic gates from the millions of logic gates of the moregeneral machine. Thus, far from abstract mathematical expressions,machine language instruction programs, even though written as a stringof zeros and ones, specify many, many constructed physical machines orphysical machine states.

Machine language is typically incomprehensible by most humans (e.g., theabove example was just ONE instruction, and some personal computersexecute more than two billion instructions every second). See, e.g.,Wikipedia, Instructions per second, available at the websiteen.wikipedia.org/wiki/Instructions_per_second (as of Jun. 5, 2012, 21:04GMT).

Thus, programs written in machine language—which may be tens of millionsof machine language instructions long—are incomprehensible. In view ofthis, early assembly languages were developed that used mnemonic codesto refer to machine language instructions, rather than using the machinelanguage instructions' numeric values directly (e.g., for performing amultiplication operation, programmers coded the abbreviation “mult,”which represents the binary number “011000” in MIPS machine code). Whileassembly languages were initially a great aid to humans controlling themicroprocessors to perform work, in time the complexity of the work thatneeded to be done by the humans outstripped the ability of humans tocontrol the microprocessors using merely assembly languages.

At this point, it was noted that the same tasks needed to be done overand over, and the machine language necessary to do those repetitivetasks was the same. In view of this, compilers were created. A compileris a device that takes a statement that is more comprehensible to ahuman than either machine or assembly language, such as “add 2+2 andoutput the result,” and translates that human understandable statementinto a complicated, tedious, and immense machine language code (e.g.,millions of 32, 64, or 128 bit length strings). Compilers thus translatehigh-level programming language into machine language.

This compiled machine language, as described above, is then used as thetechnical specification which sequentially constructs and causes theinteroperation of many different computational machines such thathumanly useful, tangible, and concrete work is done. For example, asindicated above, such machine language—the compiled version of thehigher-level language—functions as a technical specification whichselects out hardware logic gates, specifies voltage levels, voltagetransition timings, etc., such that the humanly useful work isaccomplished by the hardware.

Thus, a functional/operational technical description, when viewed by oneof skill in the art, is far from an abstract idea. Rather, such afunctional/operational technical description, when understood throughthe tools available in the art such as those just described, is insteadunderstood to be a humanly understandable representation of a hardwarespecification, the complexity and specificity of which far exceeds thecomprehension of most any one human. Accordingly, any suchoperational/functional technical descriptions may be understood asoperations made into physical reality by (a) one or more interchainedphysical machines, (b) interchained logic gates configured to create oneor more physical machine(s) representative of sequential/combinatoriallogic(s), (c) interchained ordered matter making up logic gates (e.g.,interchained electronic devices (e.g., transistors), DNA, quantumdevices, mechanical switches, optics, fluidics, pneumatics, molecules,etc.) that create physical reality representative of logic(s), or (d)virtually any combination of the foregoing. Indeed, any physical objectwhich has a stable, measurable, and changeable state may be used toconstruct a machine based on the above technical description. CharlesBabbage, for example, constructed the first computer out of wood andpowered by cranking a handle.

Thus, far from being understood as an abstract idea, it can berecognizes that a functional/operational technical description as ahumanly-understandable representation of one or more almost unimaginablycomplex and time sequenced hardware instantiations. The fact thatfunctional/operational technical descriptions might lend themselvesreadily to high-level computing languages (or high-level block diagramsfor that matter) that share some words, structures, phrases, etc. withnatural language simply cannot be taken as an indication that suchfunctional/operational technical descriptions are abstract ideas, ormere expressions of abstract ideas. In fact, as outlined herein, in thetechnological arts this is simply not true. When viewed through thetools available to those of skill in the art, suchfunctional/operational technical descriptions are seen as specifyinghardware configurations of almost unimaginable complexity.

As outlined above, the reason for the use of functional/operationaltechnical descriptions is at least twofold. First, the use offunctional/operational technical descriptions allows near-infinitelycomplex machines and machine operations arising from interchainedhardware elements to be described in a manner that the human mind canprocess (e.g., by mimicking natural language and logical narrativeflow). Second, the use of functional/operational technical descriptionsassists the person of skill in the art in understanding the describedsubject matter by providing a description that is more or lessindependent of any specific vendor's piece(s) of hardware.

The use of functional/operational technical descriptions assists theperson of skill in the art in understanding the described subject mattersince, as is evident from the above discussion, one could easily,although not quickly, transcribe the technical descriptions set forth inthis document as trillions of ones and zeroes, billions of single linesof assembly-level machine code, millions of logic gates, thousands ofgate arrays, or any number of intermediate levels of abstractions.However, if any such low-level technical descriptions were to replacethe present technical description, a person of skill in the art couldencounter undue difficulty in implementing the disclosure, because sucha low-level technical description would likely add complexity without acorresponding benefit (e.g., by describing the subject matter utilizingthe conventions of one or more vendor-specific pieces of hardware).Thus, the use of functional/operational technical descriptions assiststhose of skill in the art by separating the technical descriptions fromthe conventions of any vendor-specific piece of hardware.

In view of the foregoing, the logical operations/functions set forth inthe present technical description are representative of static orsequenced specifications of various ordered-matter elements, in orderthat such specifications may be comprehensible to the human mind andadaptable to create many various hardware configurations. The logicaloperations/functions disclosed herein should be treated as such, andshould not be disparagingly characterized as abstract ideas merelybecause the specifications they represent are presented in a manner thatone of skill in the art can readily understand and apply in a mannerindependent of a specific vendor's hardware implementation.

At least a portion of the devices or processes described herein can beintegrated into an information processing system. An informationprocessing system generally includes one or more of a system unithousing, a video display device, memory, such as volatile ornon-volatile memory, processors such as microprocessors or digitalsignal processors, computational entities such as operating systems,drivers, graphical user interfaces, and applications programs, one ormore interaction devices (e.g., a touch pad, a touch screen, an antenna,etc.), or control systems including feedback loops and control motors(e.g., feedback for detecting position or velocity, control motors formoving or adjusting components or quantities). An information processingsystem can be implemented utilizing suitable commercially availablecomponents, such as those typically found in datacomputing/communication or network computing/communication systems.

The state of the art has progressed to the point where there is littledistinction left between hardware and software implementations ofaspects of systems; the use of hardware or software is generally (butnot always, in that in certain contexts the choice between hardware andsoftware can become significant) a design choice representing cost vs.efficiency tradeoffs. Various vehicles by which processes or systems orother technologies described herein can be effected (e.g., hardware,software, firmware, etc., in one or more machines or articles ofmanufacture), and that the preferred vehicle will vary with the contextin which the processes, systems, other technologies, etc., are deployed.For example, if an implementer determines that speed and accuracy areparamount, the implementer may opt for a mainly hardware or firmwarevehicle; alternatively, if flexibility is paramount, the implementer mayopt for a mainly software implementation that is implemented in one ormore machines or articles of manufacture; or, yet again alternatively,the implementer may opt for some combination of hardware, software,firmware, etc. in one or more machines or articles of manufacture.Hence, there are several possible vehicles by which the processes,devices, other technologies, etc., described herein may be effected,none of which is inherently superior to the other in that any vehicle tobe utilized is a choice dependent upon the context in which the vehiclewill be deployed and the specific concerns (e.g., speed, flexibility, orpredictability) of the implementer, any of which may vary. In anembodiment, optical aspects of implementations will typically employoptically-oriented hardware, software, firmware, etc., in one or moremachines or articles of manufacture.

The herein described subject matter sometimes illustrates differentcomponents contained within, or connected with, different othercomponents. It is to be understood that such depicted architectures aremerely examples, and that in fact, many other architectures can beimplemented that achieve the same functionality. In a conceptual sense,any arrangement of components to achieve the same functionality iseffectively “associated” such that the desired functionality isachieved. Hence, any two components herein combined to achieve aparticular functionality can be seen as “associated with” each othersuch that the desired functionality is achieved, irrespective ofarchitectures or intermedial components. Likewise, any two components soassociated can also be viewed as being “operably connected”, or“operably coupled,” to each other to achieve the desired functionality,and any two components capable of being so associated can also be viewedas being “operably coupleable,” to each other to achieve the desiredfunctionality. Specific examples of operably coupleable include, but arenot limited to, physically mateable, physically interacting components,wirelessly interactable, wirelessly interacting components, logicallyinteracting, logically interactable components, etc.

In an embodiment, one or more components may be referred to herein as“configured to,” “configurable to,” “operable/operative to,”“adapted/adaptable,” “able to,” “conformable/conformed to,” etc. Suchterms (e.g., “configured to”) can generally encompass active-statecomponents, or inactive-state components, or standby-state components,unless context requires otherwise.

The foregoing detailed description has set forth various embodiments ofthe devices or processes via the use of block diagrams, flowcharts, orexamples. Insofar as such block diagrams, flowcharts, or examplescontain one or more functions or operations, it will be understood bythe reader that each function or operation within such block diagrams,flowcharts, or examples can be implemented, individually orcollectively, by a wide range of hardware, software, firmware in one ormore machines or articles of manufacture, or virtually any combinationthereof. Further, the use of “Start,” “End,” or “Stop” blocks in theblock diagrams is not intended to indicate a limitation on the beginningor end of any functions in the diagram. Such flowcharts or diagrams maybe incorporated into other flowcharts or diagrams where additionalfunctions are performed before or after the functions shown in thediagrams of this application. In an embodiment, several portions of thesubject matter described herein is implemented via Application SpecificIntegrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs),digital signal processors (DSPs), or other integrated formats. However,some aspects of the embodiments disclosed herein, in whole or in part,can be equivalently implemented in integrated circuits, as one or morecomputer programs running on one or more computers (e.g., as one or moreprograms running on one or more computer systems), as one or moreprograms running on one or more processors (e.g., as one or moreprograms running on one or more microprocessors), as firmware, or asvirtually any combination thereof, and that designing the circuitry orwriting the code for the software and or firmware would be well withinthe skill of one of skill in the art in light of this disclosure. Inaddition, the mechanisms of the subject matter described herein arecapable of being distributed as a program product in a variety of forms,and that an illustrative embodiment of the subject matter describedherein applies regardless of the particular type of signal-bearingmedium used to actually carry out the distribution. Non-limitingexamples of a signal-bearing medium include the following: a recordabletype medium such as a floppy disk, a hard disk drive, a Compact Disc(CD), a Digital Video Disk (DVD), a digital tape, a computer memory,etc.; and a transmission type medium such as a digital or an analogcommunication medium (e.g., a fiber optic cable, a waveguide, a wiredcommunications link, a wireless communication link (e.g., transmitter,receiver, transmission logic, reception logic, etc.), etc.).

While particular aspects of the present subject matter described hereinhave been shown and described, it will be apparent to the reader that,based upon the teachings herein, changes and modifications can be madewithout departing from the subject matter described herein and itsbroader aspects and, therefore, the appended claims are to encompasswithin their scope all such changes and modifications as are within thetrue spirit and scope of the subject matter described herein. Ingeneral, terms used herein, and especially in the appended claims (e.g.,bodies of the appended claims) are generally intended as “open” terms(e.g., the term “including” should be interpreted as “including but notlimited to,” the term “having” should be interpreted as “having atleast,” the term “includes” should be interpreted as “includes but isnot limited to,” etc.). Further, if a specific number of an introducedclaim recitation is intended, such an intent will be explicitly recitedin the claim, and in the absence of such recitation no such intent ispresent. For example, as an aid to understanding, the following appendedclaims may contain usage of the introductory phrases “at least one” and“one or more” to introduce claim recitations. However, the use of suchphrases should not be construed to imply that the introduction of aclaim recitation by the indefinite articles “a” or “an” limits anyparticular claim containing such introduced claim recitation to claimscontaining only one such recitation, even when the same claim includesthe introductory phrases “one or more” or “at least one” and indefinitearticles such as “a” or “an” (e.g., “a” and/or “an” should typically beinterpreted to mean “at least one” or “one or more”); the same holdstrue for the use of definite articles used to introduce claimrecitations. In addition, even if a specific number of an introducedclaim recitation is explicitly recited, such recitation should typicallybe interpreted to mean at least the recited number (e.g., the barerecitation of “two recitations,” without other modifiers, typicallymeans at least two recitations, or two or more recitations).Furthermore, in those instances where a convention analogous to “atleast one of A, B, and C, etc.” is used, in general such a constructionis intended in the sense of the convention (e.g., “a system having atleast one of A, B, and C” would include but not be limited to systemsthat have A alone, B alone, C alone, A and B together, A and C together,B and C together, and/or A, B, and C together, etc.). In those instanceswhere a convention analogous to “at least one of A, B, or C, etc.” isused, in general such a construction is intended in the sense of theconvention (e.g., “a system having at least one of A, B, or C” wouldinclude but not be limited to systems that have A alone, B alone, Calone, A and B together, A and C together, B and C together, and/or A,B, and C together, etc.). Typically a disjunctive word or phrasepresenting two or more alternative terms, whether in the description,claims, or drawings, should be understood to contemplate thepossibilities of including one of the terms, either of the terms, orboth terms unless context dictates otherwise. For example, the phrase “Aor B” will be typically understood to include the possibilities of “A”or “B” or “A and B.”

With respect to the appended claims, the operations recited thereingenerally may be performed in any order. Also, although variousoperational flows are presented in a sequence(s), it should beunderstood that the various operations may be performed in orders otherthan those that are illustrated, or may be performed concurrently.Examples of such alternate orderings includes overlapping, interleaved,interrupted, reordered, incremental, preparatory, supplemental,simultaneous, reverse, or other variant orderings, unless contextdictates otherwise. Furthermore, terms like “responsive to,” “relatedto,” or other past-tense adjectives are generally not intended toexclude such variants, unless context dictates otherwise.

While various aspects and embodiments have been disclosed herein, otheraspects and embodiments are contemplated. The various aspects andembodiments disclosed herein are for purposes of illustration and arenot intended to be limiting, with the true scope and spirit beingindicated by the following claims.

What is claimed is:
 1. A flying wheelchair-assist robot, comprising: awheelchair interface component operable to exchange control informationwith a wheelchair client device; and a rotorcraft structure operablycoupled to the wheelchair interface component, the rotorcraft structureincluding one or more rotors for generating lift.
 2. The flyingwheelchair-assist robot of claim 1, wherein the rotorcraft structureincludes a plurality of rotary wings.
 3. The flying wheelchair-assistrobot of claim 1, further comprising: an electronic surveillancepayload.
 4. The flying wheelchair-assist robot of claim 3, wherein theelectronic surveillance payload includes one or more image sensors. 5.The flying wheelchair-assist robot of claim 3, wherein the electronicsurveillance payload includes one or more acoustic sensors.
 6. Theflying wheelchair-assist robot of claim 3, wherein the electronicsurveillance payload includes one or more electromagnetic energysensors.
 7. The flying wheelchair-assist robot of claim 3, wherein theelectronic surveillance payload includes at least one of a receiver, atransmitter, and a transceiver.
 8. The flying wheelchair-assist robot ofclaim 3, wherein the electronic surveillance payload includes one ormore components configured to provide travel route status informationbased on one or more captured images.
 9. The flying wheelchair-assistrobot of claim 3, wherein the wheelchair interface component includescircuitry configured to generate one or more navigation control commandsto vary one or more of propulsion, braking, or steering of an associatedwheelchair based on at least one input from a component associated withthe electronic surveillance payload.
 10. The flying wheelchair-assistrobot of claim 1, further comprising: a fastening structure forremovably attaching the flying wheelchair-assist robot to a wheelchair.11. The flying wheelchair-assist robot of claim 1, further comprising: afastening structure having a power interface, the fastening structuredimensioned and configured to removably attach the flyingwheelchair-assist robot to a wheelchair, and to electrically couple theflying wheelchair-assist robot to a wheelchair power supply.
 12. Theflying wheelchair-assist robot of claim 1, wherein the wheelchairinterface component includes circuitry configured to communicate one ormore navigation control commands to vary one or more of propulsion,braking, or steering of an associated wheelchair.
 13. The flyingwheelchair-assist robot of claim 1, further comprising: an image capturecomponent.
 14. The flying wheelchair-assist robot of claim 13, whereinthe image capture component includes one or more object sensors and isconfigured to maintain the flying wheelchair-assist robot at a targetseparation from an associated wheelchair.
 15. The flyingwheelchair-assist robot of claim 13, wherein the image capture componentis configured to survey a target region.
 16. The flyingwheelchair-assist robot of claim 15, wherein the image capture componentis configured to generate one or more parameters associated with thetarget region responsive to one or more inputs from the wheelchairinterface component.
 17. The flying wheelchair-assist robot of claim 15,wherein the image capture component is configured to generate one ormore parameters associated with the target region responsive to one ormore inputs indicative of an associated wheelchair route.
 18. The flyingwheelchair-assist robot of claim 15, wherein the image capture componentis configured to select the target region based on at least one of anassociated wheelchair orientation, an associated wheelchair position,and an associated wheelchair route.
 19. The flying wheelchair-assistrobot of claim 13, wherein the image capture component includescircuitry for capturing three-dimensional images.
 20. The flyingwheelchair-assist robot of claim 13, wherein the image capture componentcomprises a pan tilt zoom (PTZ) camera.
 21. The flying wheelchair-assistrobot of claim 1, further comprising: an autonomous navigationcomponent.
 22. The flying wheelchair-assist robot of claim 1, furthercomprising: a transfer arm assembly connected to a payload-supportstructure, the transfer arm assembly configured for autonomous transferof a payload to and from the payload-support structure.
 23. The flyingwheelchair-assist robot of claim 1, further comprising: one or morespeakers.
 24. The flying wheelchair-assist robot of claim 1, furthercomprising: circuitry for providing an audio signal indicative of apresence, arrival, or imminent arrival of an associated wheelchair. 25.The flying wheelchair-assist robot of claim 1, further comprising: oneor more memories having wheelchair travel-route information storedthereon.
 26. The flying wheelchair-assist robot of claim 1, furthercomprising: one or more memories having geographical informationassociated with a wheelchair travel route stored thereon.